mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
59 lines
1.8 KiB
Markdown
59 lines
1.8 KiB
Markdown
# 使串口驱动为用户可配置。
|
||
|
||
本主题介绍了如何设置一个串行驱动程序，使其能够被最终用户配置(通过参数) 在飞行控制器板的任何可配置串行端口上运行。
|
||
|
||
## 操作前提
|
||
|
||
假定驱动程序已经存在，并使用命令语法在shell中启动:
|
||
|
||
```sh
|
||
<driver_name> start -d <serial_port> [-b <baudrate> | -b p:<param_name>]
|
||
```
|
||
|
||
上述命令中：
|
||
|
||
- `-d`: serial port name.
|
||
- `-b`: Baud rate (optional) if the driver supports multiple baud rates.
|
||
If supported, the driver must allow you to specify the rate as both a bare baudrate and as a parameter name in the form `-b p:<param_name>` (which can be parsed with `px4_get_parameter_value()`).
|
||
:::tip
|
||
See the [gps driver](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/gps/gps.cpp#L1023) for an example.
|
||
|
||
:::
|
||
|
||
## 使驱动程序可配置
|
||
|
||
使驱动程序可配置：
|
||
|
||
1. Create a YAML module configuration file:
|
||
|
||
- Add a new file in the driver's source directory named **module.yaml**
|
||
- Insert the following text and adjust as needed:
|
||
|
||
```cmake
|
||
module_name: uLanding Radar
|
||
serial_config:
|
||
- command: ulanding_radar start -d ${SERIAL_DEV} -b p:${BAUD_PARAM}
|
||
port_config_param:
|
||
name: SENS_ULAND_CFG
|
||
group: Sensors
|
||
```
|
||
|
||
::: info
|
||
The full documentation of the module configuration file can be found in the [validation/module_schema.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/validation/module_schema.yaml) file.
|
||
This is also used to validate all configuration files in CI.
|
||
|
||
:::
|
||
|
||
2. Add the module configuration to the **CMakeLists.txt** file for the driver module:
|
||
|
||
```cmake
|
||
px4_add_module(
|
||
MODULE drivers__ulanding
|
||
MAIN ulanding_radar
|
||
SRCS
|
||
ulanding.cpp
|
||
MODULE_CONFIG
|
||
module.yaml
|
||
)
|
||
```
|